CN115635477A - Flexible redundant human-simulated leg based on multi-state pneumatic muscle series-parallel connection - Google Patents
Flexible redundant human-simulated leg based on multi-state pneumatic muscle series-parallel connection Download PDFInfo
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Abstract
The invention relates to a flexible redundant humanoid leg based on multi-state pneumatic muscle series-parallel connection.A left leg and a right leg are arranged below a middle connecting plate and are mutually mirror images, the left leg is sequentially provided with a thigh joint, a knee joint and a shank joint from top to bottom, a thigh bone of the thigh joint is rotatably connected with the middle connecting plate, and the side surface of the middle part of the thigh bone and the middle connecting plate are respectively rotatably connected with two ends of an inner layer pneumatic muscle I, an inner layer pneumatic muscle II, an inner layer pneumatic muscle III, an inner layer pneumatic muscle IV, an inner layer pneumatic muscle V, an inner layer pneumatic muscle VI, an inner layer pneumatic muscle VII, an inner layer pneumatic muscle VIII, an inner layer pneumatic muscle VII and an inner layer pneumatic muscle VII. The invention has the advantages of simulating the coordination and contraction of multi-layer muscles, diversified working states of pneumatic muscles, and regulating the joint freedom degree without changing the pressure difference of the pneumatic muscles.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a flexible redundant humanoid leg based on multi-state pneumatic muscle hybrid connection, which can simulate multi-layer muscle coordinated contraction, has various pneumatic muscle working states and does not change the pneumatic muscle pressure difference to adjust the joint freedom degree.
Background
The design of the leg joint capable of avoiding obstacles, crossing obstacles and adapting to uneven ground is an important research direction in the field of robots.
The leg joints of the human body are driven by the complicated multi-layer muscles, the pneumatic muscles are filled with compressed air due to the similar characteristics of the muscles, and the human muscles are filled with oxygen.
The Chinese patent CN103816027A, CN107972013A respectively designs pneumatic muscle single-layer redundant humanoid legs which are concentrated on hip joints, does not fully consider the intricate and complex distribution of muscles of the joints of the legs of the actual human body in space, drives the joint action by the coordinated contraction of an inner layer of muscles, a middle layer of muscles and an outer layer of muscles, and does not consider various states of equal pressure, equal tension, equal length and active driving of the muscles.
Pneumatic muscles are selected to drive the joints, and the pneumatic muscles can freely and passively move under the condition of no inflation. Even when the air is inflated, the rigidity and the displacement of the joint can be controlled independently, the moment of the joint can be controlled by changing the pressure difference, the rigidity can be changed by only changing the air pressure without changing the pressure difference, and therefore various multi-degree-of-freedom working modes of the joint are achieved.
The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid is required to simulate multi-layer muscle coordinated contraction, have various pneumatic muscle working states and do not change the pneumatic muscle pressure difference to adjust the joint freedom degree.
Disclosure of Invention
The invention aims to provide a flexible redundant humanoid leg based on multi-state pneumatic muscle hybrid, which can simulate multi-layer muscle coordinated contraction, has various pneumatic muscle working states and does not change the pneumatic muscle pressure difference to adjust the joint freedom degree.
A redundant imitative people's leg of flexibility based on pneumatic muscle series-parallel connection of multistation includes:
the left leg and the right leg are mirror images, the left leg sequentially comprises a thigh joint, a knee joint and a shank joint from top to bottom, a thigh bone of the thigh joint is rotatably connected with the middle connecting plate, and the middle side surface of the thigh bone and the middle connecting plate are respectively rotatably connected with two ends of an inner layer pneumatic muscle I, an inner layer pneumatic muscle II, an inner layer pneumatic muscle III, an inner layer pneumatic muscle IV, an inner layer pneumatic muscle V, an inner layer pneumatic muscle VI, an inner layer pneumatic muscle VII, an inner layer pneumatic muscle VIII, an inner layer pneumatic muscle VII and an inner layer pneumatic muscle VIII;
the middle connecting plate and the thigh bone are respectively and rotatably connected with two ends of an outer layer pneumatic muscle I, an outer layer pneumatic muscle II, an outer layer pneumatic muscle III, an outer layer pneumatic muscle IV, an outer layer pneumatic muscle V and an outer layer pneumatic muscle VI;
the thigh bone is respectively and rotatably connected with a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod, the second connecting rod and the third connecting rod are respectively and rotatably connected with a calf bone, and the calf bone and the thigh bone are respectively and rotatably connected with a first knee joint pneumatic muscle, a second knee joint pneumatic muscle, a third knee joint pneumatic muscle and a fourth knee joint pneumatic muscle;
the shank bone is respectively and rotatably connected with a first driving wheel, a second driving wheel and a third driving wheel, a rope on the first driving wheel is respectively connected with a first shank joint pneumatic muscle and a second shank joint pneumatic muscle, a rope on the second driving wheel is respectively connected with a third shank joint pneumatic muscle and a fourth shank joint pneumatic muscle, a rope on the third driving wheel is respectively connected with a fifth shank joint pneumatic muscle and a sixth shank joint pneumatic muscle, and the shank bone, the first shank joint pneumatic muscle, the second shank joint pneumatic muscle, the third shank joint pneumatic muscle, the fourth shank joint pneumatic muscle, the fifth shank joint pneumatic muscle and the sixth shank joint pneumatic muscle are respectively and rotatably connected with feet.
The inner pneumatic muscle I, the inner pneumatic muscle II, the inner pneumatic muscle III and the inner pneumatic muscle IV are in one group and are positioned in the positive direction of an X axis, the inner pneumatic muscle V, the inner pneumatic muscle VI, the inner pneumatic muscle VII and the inner pneumatic muscle VIII are in one group and are positioned in the negative direction of the X axis, the inner pneumatic muscle I and the inner pneumatic muscle IV are obliquely arranged, and are deviated to the negative direction of the X axis and the negative direction of the outer side of the Y axis relative to the lower end and the thigh bone, and the inner pneumatic muscle IV is deviated to the negative direction of the X axis and the positive direction of the inner side of the Y axis;
the inner pneumatic muscle five, the inner pneumatic muscle six, the inner pneumatic muscle seven and the inner pneumatic muscle eight are symmetrical relative to a plane formed by the inner pneumatic muscle one, the inner pneumatic muscle two, the inner pneumatic muscle three and the inner pneumatic muscle four about the Y axis and the Z axis.
The inner pneumatic muscle nine and the inner pneumatic muscle ten are respectively positioned on two sides of the femur and two sides of the Y axis.
The middle connecting plate is a rectangular plate.
The outer pneumatic muscle I, the outer pneumatic muscle II, the outer pneumatic muscle III, the outer pneumatic muscle IV, the outer pneumatic muscle V and the outer pneumatic muscle VI are respectively arranged in parallel with the inner pneumatic muscle nine, the inner pneumatic muscle IV, the inner pneumatic muscle I, the inner pneumatic muscle V, the inner pneumatic muscle VIII and the inner pneumatic muscle Ten and are positioned on the outer layer.
The second connecting rod is obliquely arranged, the first connecting rod is parallel to the third connecting rod, and the second connecting rod is intersected with the first connecting rod in space.
The first knee joint pneumatic muscle, the second knee joint pneumatic muscle, the third knee joint pneumatic muscle and the fourth knee joint pneumatic muscle are the same in size.
The first driving wheel, the second driving wheel and the third driving wheel are same in size and are coaxially arranged.
The flexible redundant humanoid leg based on the multi-state pneumatic muscle series-parallel connection is further provided with a computer, the computer controls the pneumatic muscles through a control program, control over a mechanical structure is achieved, pneumatic muscle air pressure signals and contraction signals are stored in a database in real time in the motion process of the mechanical structure, and the mechanical structure is one or a combination of thigh joints, knee joints and shank joints.
A left leg and a right leg are arranged below a middle connecting plate, the left leg and the right leg are mirror images of each other, the left leg sequentially comprises a thigh joint, a knee joint and a shank joint from top to bottom, a thigh bone of the thigh joint is rotatably connected with the middle connecting plate, the side surface of the middle part of the thigh bone and the middle connecting plate are respectively rotatably connected with two ends of an inner layer pneumatic muscle I, an inner layer pneumatic muscle II, an inner layer pneumatic muscle III, an inner layer pneumatic muscle IV, an inner layer pneumatic muscle V, an inner layer pneumatic muscle VI, an inner layer pneumatic muscle VII, an inner layer pneumatic muscle VIII, an inner layer pneumatic muscle VII and an inner layer pneumatic muscle VIII; the middle connecting plate and the thigh bone are respectively and rotatably connected with two ends of an outer layer pneumatic muscle I, an outer layer pneumatic muscle II, an outer layer pneumatic muscle III, an outer layer pneumatic muscle IV, an outer layer pneumatic muscle V and an outer layer pneumatic muscle VI; the thigh bone is respectively and rotatably connected with a first connecting rod, a second connecting rod and a third connecting rod, the first connecting rod, the second connecting rod and the third connecting rod are respectively and rotatably connected with the shank bone, and the shank bone and the thigh bone are respectively and rotatably connected with a first knee joint pneumatic muscle, a second knee joint pneumatic muscle, a third knee joint pneumatic muscle and a fourth knee joint pneumatic muscle; the shank bone is respectively and rotatably connected with a first driving wheel, a second driving wheel and a third driving wheel, a rope on the first driving wheel is respectively connected with a first pneumatic muscle of the shank joint and a second pneumatic muscle of the shank joint, a rope on the second driving wheel is respectively connected with a third pneumatic muscle of the shank joint and a fourth pneumatic muscle of the shank joint, a rope on the third driving wheel is respectively connected with a fifth pneumatic muscle of the shank joint and a sixth pneumatic muscle of the shank joint, and the shank bone, the first pneumatic muscle of the shank joint, the second pneumatic muscle of the shank joint, the third pneumatic muscle of the shank joint, the fourth pneumatic muscle of the shank joint, the fifth pneumatic muscle of the shank joint and the sixth pneumatic muscle of the shank joint are respectively and rotatably connected with the foot. The invention has the advantages of simulating the coordinated contraction of multi-layer muscles, having various working states of pneumatic muscles and adjusting the joint freedom degree without changing the pressure difference of the pneumatic muscles.
The invention has the beneficial effects that:
(1) The hip joint is driven by combining the inner pneumatic muscle group and the outer pneumatic muscle group, part of muscles are used as active driving elements, and part of elements are in various states of equal tension and equal length, so that the pneumatic muscles not only provide power, but also have the function of ensuring the rigidity, posture, position and moment of the joint.
(2) The shank joint of the invention utilizes a plurality of groups of pneumatic muscles in the form of antagonistic muscles to drive the joint, the muscles are only influenced by air pressure, and can be controlled to be in working modes of equal pressure, equal tension and equal length, and the rotation of the joint around an X axis and a Y axis can be realized.
(3) The hip joint, the knee joint and the crus joint respectively have 2 degrees of freedom, 1 degree of freedom and 2 degrees of freedom, redundant pneumatic muscle driving in various working states is adopted, and the rigidity and the motion state of the joints are guaranteed.
Drawings
FIG. 1 is an overall mechanical structure diagram of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 2 is a single-leg overall mechanical structure diagram of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 3 is a structural diagram of an integrated mechanical hip joint of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 4 is a mechanical structure diagram of the anterior and posterior muscle groups of the inner layer of the hip joint of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 5 is a mechanical diagram of the hip joint inner layer side muscles of a flexible redundant anthropomorphic leg based on a multi-state pneumatic muscle hybrid;
FIG. 6 is a mechanical structure diagram of the inner layer of the hip joint of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 7 is a total mechanical structure diagram of a knee joint of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 8 is a view of the overall mechanical structure of the lower leg joint of a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
FIG. 9 is a block diagram of a control system for a flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid;
in the figure: the computer program comprises a left leg 1, a thigh joint 1-1, a knee joint 1-2, a calf joint 1-3, a middle connecting plate 2, a right leg 3, an inner layer pneumatic muscle I4, an inner layer pneumatic muscle II 5, an inner layer pneumatic muscle III 6, an inner layer pneumatic muscle IV 7, an inner layer pneumatic muscle V8, an inner layer pneumatic muscle VI 9, an inner layer pneumatic muscle VII 10, an inner layer pneumatic muscle VIII 11, a thigh bone 12, an inner layer pneumatic muscle IX 13, an inner layer pneumatic muscle VIII 14, an outer layer pneumatic muscle I15, an outer layer pneumatic muscle II 16, an outer layer pneumatic muscle III 17, an outer layer pneumatic muscle IV 18, an outer layer pneumatic muscle V19, an outer layer pneumatic muscle VI 20, a connecting rod I21, a knee joint pneumatic muscle I22, a knee joint pneumatic muscle II 23, a connecting rod II 24, a connecting rod III 25, a knee joint pneumatic muscle III 26, a knee joint pneumatic muscle IV 27, a calf bone 28, a driving wheel I29, a calf joint pneumatic muscle I30, a calf joint pneumatic muscle II 31, a calf joint pneumatic muscle II 32, a driving wheel 33, a calf joint 34, a calf joint IV joint 35, a calf joint 37, a pneumatic joint 36, a pneumatic muscle II, a pneumatic joint 36, a pneumatic muscle contraction signal and a pneumatic muscle control signal and a pneumatic control signal control computer program control computer 41.
Detailed Description
The invention is further described below with reference to the following figures and specific examples.
A flexible redundant humanoid leg based on multi-state pneumatic muscle series-parallel connection comprises: the left leg 1, the thigh joint 1-1, the knee joint 1-2, the calf joint 1-3, the middle connecting plate 2, the right leg 3, the inner layer pneumatic muscle I4, the inner layer pneumatic muscle II 5, the inner layer pneumatic muscle III 6, the inner layer pneumatic muscle IV 7, the inner layer pneumatic muscle V8, the inner layer pneumatic muscle VI 9, the inner layer pneumatic muscle VII 10, the inner layer pneumatic muscle VIII 11, the thigh bone 12, the inner layer pneumatic muscle VII 13, the inner layer pneumatic muscle VIII 14, the outer layer pneumatic muscle I15, the outer layer pneumatic muscle II 16, the outer layer pneumatic muscle III 17, the outer layer pneumatic muscle IV 18, the outer layer pneumatic muscle V19, the outer layer pneumatic muscle VI 20, the connecting rod I21, the connecting rod II, the connecting rod III the pneumatic knee joint muscle training device comprises a first knee joint pneumatic muscle 22, a second knee joint pneumatic muscle 23, a second connecting rod 24, a third connecting rod 25, a third knee joint pneumatic muscle 26, a fourth knee joint pneumatic muscle 27, a calf bone 28, a first driving wheel 29, a first calf joint pneumatic muscle 30, a second calf joint pneumatic muscle 31, a second driving wheel 32, a third driving wheel 33, a third calf joint pneumatic muscle 34, a fourth calf joint pneumatic muscle 35, a fifth calf joint pneumatic muscle 36, a sixth calf joint pneumatic muscle 37, a foot 38, a computer 39, a control program 40, pneumatic muscles 41, a mechanical structure 42, pneumatic muscle air pressure signals and contraction signals 43 and a database 44.
The left leg 1 is composed of a thigh joint 1-1, a knee joint 1-2 and a shank joint 1-3 in sequence from top to bottom. The left leg 1 and the right leg 3 are both rotatably connected with the middle connecting plate 2, and the mechanical structures of the left leg 1 and the right leg 3 are completely consistent from the analysis and design of the biology.
The hip joint mainly comprises an inner pneumatic muscle group, an outer pneumatic muscle group and a femur 12. The inner pneumatic muscle group comprises a first inner pneumatic muscle 4, a second inner pneumatic muscle 5, a third inner pneumatic muscle 6, a fourth inner pneumatic muscle 7, a fifth inner pneumatic muscle 8, a sixth inner pneumatic muscle 9, a seventh inner pneumatic muscle 10, an eighth inner pneumatic muscle 11, a ninth inner pneumatic muscle 13 and a tenth inner pneumatic muscle 14; the outer pneumatic muscle group comprises an outer pneumatic muscle I15, an outer pneumatic muscle II 16, an outer pneumatic muscle III 17, an outer pneumatic muscle IV 18, an outer pneumatic muscle V19 and an outer pneumatic muscle VI 20. The femur 12 is rotatably connected to the intermediate connection plate 2. The two ends of the inner pneumatic muscle I4, the inner pneumatic muscle II 5, the inner pneumatic muscle III 6 and the inner pneumatic muscle IV 7 are respectively in rotatable connection with the middle connecting plate 2 and the femur 12 in the positive direction of the X axis; the second inner pneumatic muscle 5 and the third inner pneumatic muscle 6 are located right in front of the X axis of the femur 12, and drive the femur 12 to rotate around the Y axis with respect to the intermediate connection plate 2.
The inner pneumatic muscle I4, the inner pneumatic muscle II 5 and the inner pneumatic muscle III 6 are inclined at a certain angle, the upper end of the inner pneumatic muscle I is connected with the middle connecting plate 2 and is deviated to the X-axis negative direction and the Y-axis outer negative direction relative to the lower end and the femur 12, the inner pneumatic muscle IV 7 is deviated to the X-axis negative direction and the Y-axis inner positive direction, and the inner pneumatic muscle I4 and the inner pneumatic muscle IV 7 drive the femur 12 to rotate around the Y axis and the Z axis relative to the middle connecting plate 2.
The two ends of the inner pneumatic muscle five 8, the inner pneumatic muscle six 9, the inner pneumatic muscle seven 10 and the inner pneumatic muscle eight 11 are respectively in rotatable connection with the middle connecting plate 2 and the femur 12 in the X-axis negative direction; the inner pneumatic muscle five 8, the inner pneumatic muscle six 9, the inner pneumatic muscle seven 10, the inner pneumatic muscle eight 11, the inner pneumatic muscle four 7, the inner pneumatic muscle three 6, the inner pneumatic muscle two 5 and the inner pneumatic muscle one 4 are symmetrical about a plane formed by the Y axis and the Z axis; six 9 and seven 10 inner pneumatic muscles drive the femur 12 to rotate around the Y axis relative to the middle connecting plate 2, and five 8 and eight 11 inner pneumatic muscles drive the femur 12 to rotate around the Y axis and the Z axis relative to the middle connecting plate 2.
The two ends of the inner pneumatic muscle nine 13 and the inner pneumatic muscle ten 14 are respectively rotatably connected with the thigh bone 12 and the outer side and the inner side of the middle connecting plate 2, and the thigh bone 12 is driven to rotate around the X axis relative to the middle connecting plate 2.
The outer pneumatic muscle I15, the outer pneumatic muscle II 16, the outer pneumatic muscle III 17, the outer pneumatic muscle IV 18, the outer pneumatic muscle V19 and the outer pneumatic muscle VI 20 are respectively arranged in parallel with the inner pneumatic muscle III 13, the inner pneumatic muscle IV 7, the inner pneumatic muscle I4, the inner pneumatic muscle V8, the inner pneumatic muscle V11 and the inner pneumatic muscle V14 and are positioned on the outer layer. The first outer pneumatic muscle 15 and the sixth outer pneumatic muscle 20 drive the femur 12 to rotate around the X axis relative to the middle connecting plate 2, and the second outer pneumatic muscle 16, the third outer pneumatic muscle 17, the fourth outer pneumatic muscle 18 and the fifth outer pneumatic muscle 19 drive the femur 12 to rotate around the Y axis and the Z axis relative to the middle connecting plate 2.
The inner pneumatic muscle group and the outer pneumatic muscle group are combined to drive the relative motion between the femur 12 and the middle connecting plate 2, part of muscles are used as active driving elements, and part of elements are in various states of constant pressure, equal tension and equal length.
The two ends of the first connecting rod 21, the second connecting rod 24 and the third connecting rod 25 are respectively rotatably connected with the thigh bone 12 and the shank bone 28, the first connecting rod 21 and the third connecting rod 25 are positioned at the left side and the right side of the Y-axis direction, the second connecting rod 24 is positioned in the middle, the first connecting rod 21, the second connecting rod 24 and the third connecting rod 25 are all inclined rods with certain inclination, the lower ends of the first connecting rod 21 and the third connecting rod 25 are along the positive direction of the X-axis, the upper ends of the first connecting rod 21 and the third connecting rod 25 are along the negative direction of the X-axis, and the inclination directions of the second connecting rod 24 are opposite to those of the first connecting rod 21 and the third connecting rod 25.
The two ends of the first knee joint pneumatic muscle 22, the second knee joint pneumatic muscle 23, the third knee joint pneumatic muscle 26 and the fourth knee joint pneumatic muscle 27 are rotatably connected with the thigh bone 12 and the calf bone 28 respectively, the first knee joint pneumatic muscle 22 and the second knee joint pneumatic muscle 23 are arranged on the front side, and the third knee joint pneumatic muscle 26 and the fourth knee joint pneumatic muscle 27 are arranged on the rear side; the first knee joint pneumatic muscle 22, the third knee joint pneumatic muscle 26 are arranged on the left side, and the second knee joint pneumatic muscle 23 and the fourth knee joint pneumatic muscle 27 are arranged on the right side; the first knee joint pneumatic muscle 22, the second knee joint pneumatic muscle 23, the third knee joint pneumatic muscle 26 and the fourth knee joint pneumatic muscle 27 drive the relative rotation between the femur 12 and the calf bone 28 around the Y axis.
The shank 28 is rotatably connected with the foot 38, and the first transmission wheel 29, the second transmission wheel 32 and the third transmission wheel 33 are rotatably connected with the shank 28. One end of the pneumatic muscle I30 of the calf joint and one end of the pneumatic muscle II 31 of the calf joint form a group of antagonistic muscles through ropes to be meshed with the driving wheel I29, the pneumatic muscle III 34 of the calf joint and the pneumatic muscle IV 35 of the calf joint form a group of antagonistic muscles to be meshed with the driving wheel II 32, the pneumatic muscle V36 of the calf joint and the pneumatic muscle VI 37 of the calf joint form a group of antagonistic muscles to be meshed with the driving wheel III 33; the other ends of the first pneumatic muscle of the lower leg joint 30, the second pneumatic muscle of the lower leg joint 31, the third pneumatic muscle of the lower leg joint 34, the fourth pneumatic muscle of the lower leg joint 35, the fifth pneumatic muscle of the lower leg joint 36 and the sixth pneumatic muscle of the lower leg joint 37 are rotatably connected with the foot 38. The first pneumatic muscle of the calf joint 30, the second pneumatic muscle of the calf joint 31, the third pneumatic muscle of the calf joint 34, the fourth pneumatic muscle of the calf joint 35, the fifth pneumatic muscle of the calf joint 36 and the sixth pneumatic muscle of the calf joint 37 drive relative rotation between the calf bone 28 and the foot 38 around the X axis and the Y axis.
The relative rotation between the leg bone 28 and the foot 38 around the Y axis is realized by changing the pressure difference between the first pneumatic muscle of the leg joint 30 and the second pneumatic muscle of the leg joint 31, between the third pneumatic muscle of the leg joint 34 and the fourth pneumatic muscle of the leg joint 35, and between the fifth pneumatic muscle of the leg joint 36 and the sixth pneumatic muscle of the leg joint 37, and the relative rotation between the leg bone 28 and the foot 38 around the X axis is realized by changing the air pressure only without changing the pressure difference.
The computer 39 controls the pneumatic muscle 41 through the control program 40 to realize the control of the mechanical structure 42, and the pneumatic muscle pressure signal and the contraction signal 43 are stored in the database 44 in real time during the movement of the mechanical structure 42.
The pneumatic muscle 41 is a plurality of pneumatic muscles of an inner layer pneumatic muscle I4, an inner layer pneumatic muscle II 5, an inner layer pneumatic muscle III 6, an inner layer pneumatic muscle IV 7, an inner layer pneumatic muscle IV 8, an inner layer pneumatic muscle VI 9, an inner layer pneumatic muscle VII 10, an inner layer pneumatic muscle VIII 11, an inner layer pneumatic muscle IX 13, an inner layer pneumatic muscle VIII 14, an outer layer pneumatic muscle IV 15, an outer layer pneumatic muscle IV 16, an outer layer pneumatic muscle IV 17, an outer layer pneumatic muscle IV 18, an outer layer pneumatic muscle IV 19, an outer layer pneumatic muscle VI 20, a knee joint pneumatic muscle I22, a knee joint pneumatic muscle II 23, a knee joint pneumatic muscle III 26, a knee joint pneumatic muscle IV 27, a calf joint pneumatic muscle I30, a calf joint pneumatic muscle II 31, a calf joint pneumatic muscle III 34, a calf joint pneumatic muscle IV 35, a calf joint pneumatic muscle IV 36, and a calf joint pneumatic muscle VI 37.
The mechanical structure 42 is one or a combination of several of the thigh joint 1-1, the knee joint 1-2 and the calf joint 1-3.
The invention realizes the control of the pose of the leg joint of the human simulator by controlling the pneumatic muscles of each simulated human body muscle, can dynamically and vividly simulate the action of the leg joint of the human and realize accurate track control, and has the advantages that other pneumatic muscles drive the leg of the human simulator to be incomparable.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides a redundant imitative people's leg of flexibility based on pneumatic muscle series-parallel connection of multistation which characterized in that includes:
the left leg (1) and the right leg (3) are arranged below the middle connecting plate (2), the left leg (1) and the right leg (3) are mirror images of each other, a thigh joint (1-1), a knee joint (1-2) and a shank joint (1-3) are sequentially arranged on the left leg (1) from top to bottom, a thigh bone (12) of the thigh joint (1-1) is rotatably connected with the middle connecting plate (2), the middle side surface of the thigh bone (12) and the middle connecting plate (2) are respectively rotatably connected with two ends of an inner layer pneumatic muscle I (4), an inner layer pneumatic muscle II (5), an inner layer pneumatic muscle III (6), an inner layer pneumatic muscle IV (7), an inner layer pneumatic muscle V (8), an inner layer pneumatic muscle VI (9), an inner layer pneumatic muscle VII (10), an inner layer pneumatic muscle VIII (11), an inner layer pneumatic muscle III (13) and an inner layer pneumatic muscle VI (14);
the middle connecting plate (2) and the thigh bone (12) are respectively and rotatably connected with two ends of an outer layer pneumatic muscle I (15), an outer layer pneumatic muscle II (16), an outer layer pneumatic muscle III (17), an outer layer pneumatic muscle IV (18), an outer layer pneumatic muscle V (19) and an outer layer pneumatic muscle VI (20);
the thigh bone (12) is respectively rotatably connected with a first connecting rod (21), a second connecting rod (24) and a third connecting rod (25), the first connecting rod (21), the second connecting rod (24) and the third connecting rod (25) are respectively rotatably connected with a shank bone (28), and the shank bone (28) and the thigh bone (12) are respectively rotatably connected with a first knee joint pneumatic muscle (22), a second knee joint pneumatic muscle (23), a third knee joint pneumatic muscle (26) and a fourth knee joint pneumatic muscle (27);
the shank bone (28) is respectively rotatably connected with a first driving wheel (29), a second driving wheel (32) and a third driving wheel (33), ropes on the first driving wheel (29) are respectively connected with a first shank joint pneumatic muscle (30) and a second shank joint pneumatic muscle (31), ropes on the second driving wheel (32) are respectively connected with a third shank joint pneumatic muscle (34) and a fourth shank joint pneumatic muscle (35), ropes on the third driving wheel (33) are respectively connected with a fifth shank joint pneumatic muscle (36) and a sixth shank joint pneumatic muscle (37), and the shank bone (28), the first shank joint pneumatic muscle (30), the second shank joint pneumatic muscle (31), the third shank joint pneumatic muscle (34), the fourth shank joint pneumatic muscle (35), the fifth shank joint pneumatic muscle (36) and the sixth shank joint pneumatic muscle (37) are respectively rotatably connected with feet (38).
2. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle hybrid of claim 1 is characterized in that the inner pneumatic muscle I (4), the inner pneumatic muscle II (5), the inner pneumatic muscle III (6) and the inner pneumatic muscle IV (7) are in a group and are positioned in the positive direction of the X axis, the inner pneumatic muscle V (8), the inner pneumatic muscle VI (9), the inner pneumatic muscle VII (10) and the inner pneumatic muscle VIII (11) are in a group and are positioned in the negative direction of the X axis, the inner pneumatic muscle I (4) and the inner pneumatic muscle IV (7) are obliquely arranged, and are deviated to the negative direction of the X axis and the negative direction of the outer side of the Y axis relative to the lower end and the femur (12), and the inner pneumatic muscle IV (7) is deviated to the negative direction of the X axis and the positive direction of the inner side of the Y axis;
the pneumatic muscle group comprises five (8) of inner layer pneumatic muscle, six (9) of inner layer pneumatic muscle, seven (10) of inner layer pneumatic muscle and eight (11) of inner layer pneumatic muscle, which are symmetrical relative to a plane formed by the first (4) of inner layer pneumatic muscle, the second (5) of inner layer pneumatic muscle, the third (6) of inner layer pneumatic muscle and the fourth (7) of inner layer pneumatic muscle and are symmetrical relative to a Y axis and a Z axis.
3. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection according to claim 1 is characterized in that the inner pneumatic muscles nine (13) and ten (14) are respectively positioned on two sides of a femur (12) and two sides of a Y axis.
4. The flexible redundant anthropomorphic leg based on multistate pneumatic muscle hybrid according to claim 1 is characterized in that the intermediate connection plate (2) is a rectangular plate.
5. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is characterized in that the outer pneumatic muscle I (15), the outer pneumatic muscle II (16), the outer pneumatic muscle III (17), the outer pneumatic muscle IV (18), the outer pneumatic muscle V (19) and the outer pneumatic muscle VI (20) are respectively installed in parallel with the inner pneumatic muscle nine (13), the inner pneumatic muscle IV (7), the inner pneumatic muscle I (4), the inner pneumatic muscle V (8), the inner pneumatic muscle VIII (11) and the inner pneumatic muscle VIII (14) and are located at the outer layer.
6. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is characterized in that the second connecting rod (24) is obliquely arranged, the first connecting rod (21) and the third connecting rod (25) are parallel to each other, and the second connecting rod (24) and the first connecting rod (21) are intersected in space.
7. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is characterized in that the first knee joint pneumatic muscle (22), the second knee joint pneumatic muscle (23), the third knee joint pneumatic muscle (26) and the fourth knee joint pneumatic muscle (27) are the same in size.
8. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is characterized in that the first transmission wheel (29), the second transmission wheel (32) and the third transmission wheel (33) are the same in size and are coaxially arranged.
9. The flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is characterized in that the flexible redundant anthropomorphic leg based on multi-state pneumatic muscle series-parallel connection is further provided with a computer (39), the computer (39) controls pneumatic muscles (41) through a control program (40) to realize control over a mechanical structure (42), pneumatic muscle air pressure signals and contraction signals (43) are stored in a database (44) in real time in the movement process of the mechanical structure (42), and the mechanical structure (42) is one or a combination of thigh joints (1-1), knee joints (1-2) and shank joints (1-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116729520A (en) * | 2023-08-11 | 2023-09-12 | 太原理工大学 | Bionic four-foot robot based on double-layer corrugated pipe pneumatic soft driver |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116729520A (en) * | 2023-08-11 | 2023-09-12 | 太原理工大学 | Bionic four-foot robot based on double-layer corrugated pipe pneumatic soft driver |
| CN116729520B (en) * | 2023-08-11 | 2023-10-20 | 太原理工大学 | Bionic four-foot robot based on double-layer corrugated pipe pneumatic soft driver |
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